CN107991694B - RTK-based reference station attitude monitoring system and monitoring method thereof - Google Patents
RTK-based reference station attitude monitoring system and monitoring method thereof Download PDFInfo
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- CN107991694B CN107991694B CN201711189711.8A CN201711189711A CN107991694B CN 107991694 B CN107991694 B CN 107991694B CN 201711189711 A CN201711189711 A CN 201711189711A CN 107991694 B CN107991694 B CN 107991694B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention relates to an RTK reference station attitude monitoring system and a method, comprising two RTK receivers, wherein the first RTK receiver is used as a reference station, and the second RTK receiver is used as a mobile station; the support of the first RTK receiver is provided with a horizontal bubble, the host is provided with an electronic bubble module for recording a standard value of the electronic bubble, collecting the real-time electronic bubble and sending the calculated electronic bubble information to the second RTK receiver; and the RTK receiver of the second RTK receives the electronic bubble information and then screens the electronic bubble information, the electronic bubble information deviating from the standard is issued to the control handbook, and the control handbook of the second RTK receiver is used for alarming. When this patent has realized using RTK to do high accuracy measurement, the gesture of real time monitoring reference station prevents in the measurement process, because under the unknown condition, think or the influence of non-artificial factor to the reference station, leads to the reference station to change at spatial position.
Description
Technical Field
The invention relates to an attitude monitoring system based on an RTK (real-time kinematic) reference station and a monitoring method thereof.
Background
Under the condition of high-precision measurement, an RTK receiver is generally used in a mode of a network 1+1 or a radio station 1+1, namely, the RTK receiver is erected as a reference station and used for sending differential data in a network or radio station mode, and the other RTK receiver used for measurement is used as a mobile station.
In the field of high-precision measurement, the accuracy of the coordinates of the reference station directly influences the measurement precision. After the reference station is erected, the ideal effect is that the reference station keeps still in the measuring process, so that the coordinate of the reference station is ensured not to be changed. However, in reality, the reference station may be interfered by various external factors, and may move, tilt, vibrate, etc. to change the position of the reference station, but in the measurement process, a measurer may often measure at the mobile station end and cannot notice the state of the reference station.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a system and a method capable of monitoring the state of a reference station to ensure the accuracy of measured data.
To achieve the above object, according to one aspect of the present invention, there is provided an RTK reference station attitude monitoring system,
the method comprises the steps of including two RTK receivers, wherein a first RTK receiver is used as a reference station, and a second RTK receiver is used as a mobile station;
the RTK receiver comprises a host, a control handbook and a bracket;
the support of the first RTK receiver is provided with a horizontal bubble, the host is provided with an electronic bubble module for recording a standard value of the electronic bubble, collecting the real-time electronic bubble and sending the calculated electronic bubble information to the second RTK receiver;
and the RTK receiver of the second RTK receives the electronic bubble information and then screens the electronic bubble information, the electronic bubble information deviating from the standard is issued to the control handbook, and the control handbook of the second RTK receiver is used for alarming.
Preferably, the electronic bubble module comprises a threshold calculation module, and the threshold calculation module is configured to perform difference operation on the recorded electronic bubble information and a standard value of the electronic bubble, and compare the difference operation with a given threshold to determine whether the electronic bubble information is within a normal range.
Preferably, the electronic bubble module further comprises a marking module, wherein the marking module marks the difference value exceeding the threshold value as 1 and marks the difference value lower than the threshold value as 0.
Preferably, the threshold is between 3 ° and 10 °.
Preferably, the threshold is 5 °.
Preferably, the control handbook is provided with an alarm.
Preferably, the host of the first RTK receiver compares the acquired electronic bubble with a standard value of the electronic bubble and marks information of the electronic bubble, and the marked electronic bubble information and the data packet data are packaged into differential data and sent to the host of the second PTK receiver.
Preferably, the differential data is transmitted to the host of the second receiver via a network or a radio station.
According to another aspect, there is provided a PTK reference station attitude monitoring method characterized by including a first RTK receiver as a reference station and a second RTK receiver as a receiving station, and including the steps of:
taking an electron bubble when the chassis of the first RTK receiver is completed as a reference of the electron bubble;
acquiring an electronic bubble of the first RTK receiver, comparing the electronic bubble with a reference of the electronic bubble, and marking as 1 when the electronic bubble exceeds a threshold value and marking as 0 when the electronic bubble is lower than the threshold value;
transmitting the data of the marker information to a second RTK receiver;
the second RTK receiver analyzes whether the information of the electronic bubble is marked as 1, and when marked as 1, sends to the control pad to alarm.
Preferably, the tag information of the electronic bubble and the packet data are packed into differential data and transmitted to the second RTK receiver.
Preferably, the differential data is transmitted to the second RTK receiver via a network or a radio station.
Preferably, the second RTK receiver parses the received differential data and reads the tag information of the electronic bubble.
Preferably, the control pad may be communicated to the user by means of an audible or visual alarm.
The method realizes real-time monitoring of the state of the RTK base station in the RTK high-precision measurement process, if the RTK base station is moved or is shifted in space position caused by the outside, the attitude flag bit is added into differential data, the mobile station analyzes the attitude status bit of the base station along with the distribution of data to the mobile station by the base station, if the status bit of the base station is judged to be 1, the mobile station sends information to the handbook software, and the handbook software sends out a warning to prompt a measurer that the base station moves, so that the problem that the measurement result is wrong after the base station moves due to the fact that the status of the base station cannot be observed in the traditional measurement is avoided.
And (3) monitoring the attitude of the reference station in real time by using electronic bubbles, adding attitude data to differential data to the mobile station, and carrying out timely visual and sound prompt by using the handbook software.
Compared with the prior art, the invention has the beneficial technical effects that: when the RTK is used for high-precision measurement, the attitude of the reference station is monitored in real time, and the situation that the reference station changes in the spatial position and finally results in errors of measurement results due to the fact that the influence of artificial or non-artificial factors on the reference station is caused in the measurement process is prevented, but the position change of the reference station is not recognized in the measurement process, so that the wrong measurement results are obtained, and the result is unpredictable is avoided.
It is to be understood that within the scope of the present invention, each of the above-described technical features of the present invention and each of the technical features described in detail below (e.g., embodiments) may be combined with each other to constitute a new or preferred technical solution. Not to be reiterated herein, but to the extent of space.
Drawings
FIG. 1 is a flow chart of a process of a receiver as a reference station in the present invention;
fig. 2 is a flow chart of a process of a receiver as a mobile station in the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In order to understand the present invention through the receiver, detailed steps and detailed structures will be set forth in the following description in order to explain the technical solution of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
Interpretation of terms:
RTK: real-time kinematic, Real-time dynamic positioning, carrier phase differential technology, which is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and sends carrier phases acquired by a reference station to a user receiver for calculating a difference and a coordinate.
Electron bubbles: a sensor module, also called a gyroscope module, can output the angle value of the deviation between the current module attitude and the initial attitude, and the deviation angle of the rotation around the x, y and z axes respectively, wherein the initial attitude is x, y and z, after the change, the new attitude is x ', y ' and z ', the module can output the current deviation angle theta x, theta y and theta z with the initial state, and the angle is omitted because the receiver can not use the z-axis angle.
The RTK receiver is used in the surveying and mapping field, and in the measuring process, after the base station is erected, the default is that the base station keeps still and still, and a person is located near a mobile station to operate. However, in the actual operation process, it is found that after the reference station is erected, the conditions of offset, inclination and the like still occur, which affect the accuracy of the actual operation and increase a lot of error data. The reference of the reference station is not monitored in the prior art.
The invention provides a measuring system and a measuring method, which can monitor a reference station, pack monitoring data and transmit the data to a mobile station through a network or a radio station, alarm and remind a person who operates the measuring system, and are also beneficial to screening error data subsequently.
The present invention provides a monitoring system comprising two RTK receivers, wherein a first RTK receiver is used as a reference station and a second RTK receiver is used as a rover station.
The RTK receiver comprises a host, a control handbook and a support.
Horizontal bubbles are arranged on a bracket of the first RTK receiver, and an electronic bubble module is arranged on the host and used for recording the standard value of the electronic bubbles and collecting the real-time electronic bubbles. The standard value of the electronic bubble is a value (as an initial value) obtained after the scaffold of the reference station is set, and the value is a fixed value relative to the electronic information collected subsequently. In the subsequent measurement process, new electronic bubble information is continuously generated and is recorded into the electronic bubble module. The electronic bubble module comprises a threshold value calculation module, and the threshold value calculation module is used for calculating the difference between the standard value of the input electronic bubble and the standard value of the input electronic bubble. And classifying the result of the difference operation, marking the result as 1 when the result of the difference operation exceeds a given threshold, and marking the result as 0 if the result of the difference operation is lower than the threshold. The threshold value is generally 5 degrees, the 5 degrees can detect that the data is moved in the test process, error judgment caused by surrounding micro vibration can be filtered, and the marked data are sent to differential data along with the data packet and packaged to be sent to a second RTK receiver through a network or a radio station;
and the host of the RTK receiver of the second RTK receives the differential data, analyzes the data packet of the electronic bubble part in the differential data, screens the marked electronic bubble information, and issues the electronic bubble information deviating from the standard to the control handbook, and the control handbook of the second RTK receiver is used for alarming. The alarm may be an acoustic alarm device, such as a buzzer, or an optical alarm device, such as an LED light, but is not limited to the above description.
The electronic bubble is integrated by the receiver, the state of the electronic bubble is distributed to the mobile station in a differential data mode, and if the attitude of the reference station changes, the mobile station informs the handbook to send out warning prompts to measuring personnel.
The monitoring method of the present invention includes a PTK reference station attitude monitoring method including a first RTK receiver as a reference station and a second RTK receiver as a receiving station, and includes the steps of:
taking an electron bubble when the chassis of the first RTK receiver is completed as a reference of the electron bubble;
acquiring an electronic bubble of the first RTK receiver, comparing the electronic bubble with a reference of the electronic bubble, and marking as 1 when the electronic bubble exceeds a threshold value and marking as 0 when the electronic bubble is lower than the threshold value;
packing the marking information of the electronic bubble and the data packet data into differential data and sending the differential data to a second RTK receiver through a network or a radio station;
and the second RTK receiver analyzes the received differential data and reads the marking information of the electronic bubble, and when the information of the electronic bubble is marked as 1 or not, the information is sent to the control handbook for alarming.
The invention integrates electronic bubbles on the receiver and monitors the posture of the receiver in real time; when the receiver is used as a reference station, the reference station is erected, electronic bubble calibration is needed, and the value at the moment is used as a standard attitude; after the setting of the reference station is finished, differential data are continuously sent to the mobile station, and when the differential data are sent, attitude information is attached to a differential data packet and sent to the mobile station; and monitoring the attitude of the reference station in real time in the working process, and if the attitude deviates from the standard attitude and exceeds a threshold value, setting a corresponding marker bit of the attitude data section. The mobile station receives the differential data distributed by the reference station in the working process, then analyzes the attitude data segment, checks the flag bit, sends corresponding information to the handbook if the flag bit is set, and the handbook sends a warning prompt that the reference station is moved to a measurer.
When the RTK is used for high-precision measurement, the attitude of the reference station is monitored in real time, and the situation that the reference station changes in the spatial position and finally results in errors of measurement results due to the fact that the influence of artificial or non-artificial factors on the reference station is caused in the measurement process is prevented, but the position change of the reference station is not recognized in the measurement process, so that the wrong measurement results are obtained, and the result is unpredictable is avoided.
It should be understood that any changes or substitutions that can be easily made by one skilled in the art within the technical scope of the present disclosure as described above are intended to be included within the scope of the present invention. The protection scope of the present invention is subject to the protection scope of the claims.
Claims (9)
1. An RTK base station attitude monitoring system, characterized in that,
the method comprises the steps of including two RTK receivers, wherein a first RTK receiver is used as a reference station, and a second RTK receiver is used as a mobile station;
the RTK receiver comprises a host, a control handbook and a bracket;
the support of the first RTK receiver is provided with a horizontal bubble, the host is provided with an electronic bubble module for recording a standard value of the electronic bubble and acquiring the real-time electronic bubble, the acquired real-time electronic bubble is differentiated from the standard value of the electronic bubble, the result of the difference calculation is classified, when the result of the difference calculation exceeds a threshold value, the result is marked as 1, if the result is lower than the threshold value, the result is marked as 0, and the calculated electronic bubble information is sent to a second RTK receiver;
and after receiving the electronic bubble information, the RTK receiver of the second RTK screens the electronic bubble information, the threshold value deviating from the standard is 3-10 degrees, the electronic bubble information deviating from the standard is issued to the control handbook, and the control handbook of the second RTK receiver is used for alarming.
2. The RTK reference station attitude monitoring system of claim 1, wherein the control pad is provided with an alarm.
3. The RTK reference station attitude monitoring system according to claim 1, wherein the host of the first RTK receiver compares the collected e-bubble with a standard value of the e-bubble and marks the information of the e-bubble, and the marked e-bubble information and the packet data are packed into differential data and sent to the host of the second PTK receiver.
4. The RTK reference station attitude monitoring system of claim 3, wherein the differential data is transmitted to the host of the second receiver via a network or a station.
5. A PTK reference station attitude monitoring method, characterized by comprising a first RTK receiver as a reference station and a second RTK receiver as a receiving station according to any one of claims 1 to 4, and comprising the steps of:
taking an electron bubble when the chassis of the first RTK receiver is completed as a reference of the electron bubble;
acquiring an electronic bubble of the first RTK receiver, comparing the electronic bubble with a reference of the electronic bubble, and marking as 1 when the electronic bubble exceeds a threshold value and marking as 0 when the electronic bubble is lower than the threshold value;
transmitting the data of the marker information to a second RTK receiver;
the second RTK receiver analyzes whether the information of the electronic bubble is marked as 1, and when marked as 1, sends to the control pad to alarm.
6. The monitoring method of claim 5, wherein the tag information of the electronic bubble and the packet data are packaged into differential data and sent to a second RTK receiver.
7. The method for monitoring of claim 6, wherein the differential data is transmitted to the second RTK receiver via a network or a radio station.
8. The monitoring method according to claim 7, wherein the second RTK receiver parses the received differential data and reads the tag information of the electronic bubble.
9. A monitoring method according to claim 5, characterized in that the control pad is communicated to the user by means of an acoustic or optical alarm.
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| CN110832885A (en) * | 2018-12-04 | 2020-02-21 | 深圳市大疆创新科技有限公司 | State prompting method, system and device for fixed RTK base station, mobile RTK station and terminal equipment |
| WO2020124508A1 (en) * | 2018-12-20 | 2020-06-25 | Sz Dji Technology Co. , Ltd. | Position determination method and device based on pose data |
| CN109597099B (en) * | 2018-12-26 | 2022-04-01 | 上海司南卫星导航技术股份有限公司 | Method for judging whether reference station receiver moves or not, OEM board card and receiver |
| CN110132222B (en) * | 2019-04-23 | 2022-04-12 | 广州南方卫星导航仪器有限公司 | Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium |
| CN111366957A (en) * | 2020-03-16 | 2020-07-03 | 浙江亚特电器有限公司 | Positioning method, device, equipment and readable storage medium |
| CN117990058B (en) * | 2024-04-07 | 2024-06-11 | 国网浙江省电力有限公司宁波供电公司 | Method, device, computer equipment and medium for improving RTK measurement accuracy |
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